Method and system for optimising operation of vessel

ABSTRACT

Disclosed are a method and a virtual sensor system for determining the speed through water of a marine vessel. The method includes obtaining propeller revolutions per minute and at least one of torque at propeller, propulsion power, thrust and engine fuel flow, obtaining speed over ground of the vessel and using the obtained data and hydrodynamic modelling to determine the speed through water of the vessel.

TECHNICAL FIELD

The present disclosure relates generally to optimisation of vesseloperation; and more specifically, to a method and a sensor system fordetermining the speed through water (STW) of the vessel for use inoptimising vessel operation.

BACKGROUND

Marine transportation vessels, such as container ships and tankers,consume large amounts of fuel. In recent times, the trends ofdigitalization and performance optimisation have led to the vesselsusing complex systems that produce large quantities of data related tothe vessels' efficiency. However, by far the most critical measurementsfor evaluating vessel performance are those pertaining to vessel speedand energy consumption. Energy consumption roughly grows as the thirdpower of speed, so it is extremely important to measure the speedaccurately. The speed over ground (SOG) may be accurately evaluatedusing known space-based navigation systems like the Global PositioningSystem (GPS), but this is not equal to STW in the presence of ocean ortidal currents.

The efficiency of the vessel, and hence for example the attained STW ata certain propeller revolution per minute (RPM), may depend on the hulland propeller condition, which can deteriorate due to biologicalfouling, paint degradation and other factors, or may improve due to adry docking or cleaning of the hull. To achieve a nearly real-time hulland propeller performance tracking, an accurate STW is required todistinguish the slowly evolving fouling signal from the noisybackground. Also, assessing the onboard efficiency of any navigationaloperation, the key is to know how much the vessel has gained or lost inspeed if the RPM or power is kept constant.

The most common sensor type to measure STW for a vessel is the DopplerLog, which transmits ultrasound pulses from the vessel, and measures thebackscatter echo. The frequency shift (Doppler shift) can be utilized tocalculate the speed of the vessel through water. However, this techniqueof measuring STW fails to provide an accurate reading in water with alesser amount of impurity because the technique calculates the STW basedon the backscatter echo from bubbles, biological material, and turbidityin water. Indeed, the regular techniques for measuring STW have issuesthat are commonly known in the industry, see e.g. BOS, M. (2016), HowMetOcean Data Can Improve Accuracy and Reliability of Vessel PerformanceEstimates, Proceedings of the HullPIC 2016 conference,http://data.hullpic.info/HullPIC2016.pdf.

When examining Doppler Log data, two separate issues stand out. First,due to the aforementioned difficulties, the noise level in the speedmeasurement is often high, and the speed logs can sometimes behave in avery erratic manner. Secondly, the speed logs experience calibrationissues, which means that the long-term average difference between SOGand the measured STW clearly differs from zero. Moreover, thecalibration error can change over time, either due to crew recalibratingthe STW Log device or due to calibration depending on circumstances,such as sea water temperature. Both issues are visualized in the FIGS. 1and 2, wherein FIG. 1 illustrates an STW log with erratic behaviour andFIG. 2 an STW log with calibration error.

Alternatively, STW can be approximated using modelling based onpropeller RPM alone (as in US 2009/0048726), but this approximation iscrude and does not provide an accurate STW. To make the approximationmore accurate, additional data relating to wind and sea state istypically used (as in WO 2015/129337). This approach has the downside ofdepending on many data sources that are more prone to breaking.

Therefore, considering the foregoing discussion, there exists a need toovercome the aforementioned drawbacks of conventional ways to measurethe STW for a vessel.

SUMMARY

The present disclosure seeks to provide a method that combines differentdata sources to produce a high-quality, low-bias STW measurement. Thepresent disclosure also seeks to provide a sensor system for determiningthe STW of a marine vessel. An aim of the present disclosure is to atleast partially overcome the problems encountered in prior art,especially relating to measuring STW and to efficiently quantifyingenergy efficiency aspects of the vessel.

In one aspect, an embodiment of the present disclosure provides a methodfor determining the speed through water of a vessel for optimisation ofvessel operation, using a sensor system, the method comprising:

-   -   obtaining propeller revolutions per minute and at least one of        torque at propeller, propulsion power, thrust, and engine fuel        consumption;    -   obtaining speed over ground of the vessel; and    -   using the obtained data and hydrodynamic modeling to determine        the speed through water of the vessel.

In another aspect, an embodiment of the present disclosure provides asensor system for determining the speed through water of a marinevessel, the sensor system comprising:

-   -   a first receiver configured to receive propeller revolutions per        minute and at least one of torque at propeller, propulsion        power, thrust, and engine fuel consumption;    -   a second receiver configured to receive speed over ground of the        vessel; and    -   at least one processor configured to determine the speed through        water of the vessel, based on the received data and hydrodynamic        modeling.

Moreover, data from one or more speed through water logs or fromoceanographic current forecasts can be used to increase the accuracy andreliability of the determined STW.

Embodiments of the present disclosure substantially eliminate or atleast partially address the aforementioned problems in the prior art,and enables accurate determination of the STW of a marine vessel.

Additional aspects, advantages, features and objects of the presentdisclosure would be made apparent from the drawings and the detaileddescription of the illustrative embodiments construed in conjunctionwith the appended claims that follow.

It will be appreciated that features of the present disclosure aresusceptible to being combined in various combinations without departingfrom the scope of the present disclosure as defined by the appendedclaims.

BRIEF DESCRIPTION OF THE DRAWINGS

The summary above, as well as the following detailed description ofillustrative embodiments, is better understood when read in conjunctionwith the appended drawings. For the purpose of illustrating the presentdisclosure, exemplary constructions of the disclosure are shown in thedrawings. However, the present disclosure is not limited to specificmethods and instrumentalities disclosed herein. Wherever possible, likeelements have been indicated by identical numbers.

Embodiments of the present disclosure will now be described, by way ofexample only, with reference to the following diagrams wherein:

FIG. 1 illustrates an STW log with erratic behaviour;

FIG. 2 illustrates an STW log with calibration error;

FIG. 3 illustrates a block diagram of a system for determining the STWof a marine vessel, in accordance with an embodiment of the presentdisclosure; and

FIG. 4 is an illustration of steps of a method for determining the STWof a vessel, in accordance with an embodiment of the present disclosure.

In the accompanying drawings, an underlined number is employed torepresent an item over which the underlined number is positioned or anitem to which the underlined number is adjacent. A non-underlined numberrelates to an item identified by a line linking the non-underlinednumber to the item. When a number is non-underlined and accompanied byan associated arrow, the non-underlined number is used to identify ageneral item at which the arrow is pointing.

DETAILED DESCRIPTION OF EMBODIMENTS

The following detailed description illustrates embodiments of thepresent disclosure and ways in which they can be implemented. Althoughsome modes of carrying out the present disclosure have been disclosed,those skilled in the art would recognize that other embodiments forcarrying out or practicing the present disclosure are also possible.

In one aspect, an embodiment of the present disclosure provides a methodfor determining the speed through water of the vessel for optimisationof vessel operation, using a sensor system, comprising:

-   -   obtaining propeller revolutions per minute and at least one of        torque at propeller, propulsion power, thrust, and engine fuel        consumption;    -   obtaining speed over ground of the vessel; and using the        obtained data and hydrodynamic modeling to determine the STW of        the vessel.

The present description thus provides a STW measurement relevant foroperational optimisation of a vessel. Traditionally, optimisingoperation of the vessel has been carried out using the STW measured byan STW log, which is inadequate due to calibration and noise issues.Alternatively, STW has been modelled based on propeller revolutions perminute possibly augmented with data relating to wind and sea state. Theformer approach is too crude to provide an accurate STW and the latterapproach has the downside of depending on many data sources that aremore prone to errors and might not be available. In contrast, thepresent disclosure allows to determine an accurate and robust STW withonly a few generally available data sources and novel hydrodynamicmodelling.

In the present description, by vessel are meant any kinds of waterbornevessels, typically marine vessels. Most typically the vessel is a cargoship or large cruise vessel, but the present disclosure is alsoapplicable for yachts, for example.

According to an embodiment, the at least one of the propellerrevolutions per minute, torque at propeller, propulsion power, thrustand engine fuel consumption is a measurement value resulting from acorresponding indirect measurement based on vessel vibrations. Indeed,instead of using a direct measurement of for example the propellerrevolutions, it is possible to obtain this measurement value or datafrom an indirect measurement based on vessel vibrations. Such indirectmeasurement may not lead to exactly the same numerical value, but itgives the relative value. Such a relative value can then be taken intoaccount in the final calculation of the speed through water.

According to an embodiment, the determined speed through water isrendered for example on a display, and is used by the person navigatingthe vessel to optimise the operation. Optimisation of operation meansfor example selection of a route of the vessel, selection of a speed ofthe vessel or both, for example by chasing sea currents. Optimisationmay relate to decreasing energy consumption of the vessel, while at thesame time keeping up the schedule of a commercial vessel or similar,i.e. to finding an optimal combination of speed and route, whileminimising fuel consumption.

In another embodiment, the determined speed through water is used forassessing the performance of the vessel. The performance can be used forinstance to determine the optimal time to wash the vessel's hull inorder to decrease amount of biological growth on the hull with the leastcost.

According to an embodiment, the method further comprises obtaining datafrom the STW log, and using the obtained data for determining the STW ofthe vessel and for calibrating the STW log data. In this embodiment, thedetermined STW is more accurate and hence allows more detailedoperational optimisation.

According to another embodiment, the method still further comprisesobtaining oceanographic current data and using said data in determiningSTW of the vessel. This data can be obtained from an outside source, forexample weather service providers. Oceanographic current in thisdescription means ocean currents, which are continuous, directedmovements of seawater generated by forces acting upon the mean flow,such as breaking waves, wind, the Coriolis effect, cabbeling,temperature and salinity differences, or tides, which are caused by thegravitational pull of the Sun and Moon. Adding current data furtherimproves the accuracy of the determined STW.

The method provides a STW measurement that is more robust and accuratethan what can be obtained using traditional methods. The accuracyimproves when adding more inputs. The data sources can be combined, forexample, using a statistical state-space model. One possible formulationis detailed below.

In another embodiment, the STW is determined in real time. This allowsfor example optimisation of the steering of the ship, so that the fuelefficiency is maximised.

The hydrodynamic model to determine STW can be built starting from theopen water propeller characteristic curves. In an open waterapproximation, the performance of a propeller at a given speed of waterflow and rotation may be described with two dimensionless functions: thethrust coefficient K_(Q) and the torque coefficient K_(T). These dependon the torque ‘Q’ associated the propeller and the trust ‘T’ at thepropeller as follows:

${K_{Q}\left( {J;\overset{\_}{\alpha}} \right)} = \frac{Q}{\rho\; D^{5}n^{2}}$${K_{T}\left( {J;\overset{\_}{\beta}} \right)} = \frac{T}{\rho\; D^{4}n^{2}}$

The above formulations are parameterized for a given propeller by theset of parameters α, β, and propeller diameter D as well as propellerrotations per minute (RPM) n. In addition, ρ is the water density.Moreover, K_(Q) and K_(T) are decreasing functions of the dimensionlessadvance number 3, which is defined as follows:J=v _(A)/(nD)In the above relation, v_(A) is the water speed at the propeller. In thepresent description, this can be approximated with STW. In a typicaloperational range of the vessel, the functions K_(Q) and K_(T) can beapproximated with a low-order polynomial, such as linear or quadratic.

In the hydrodynamic model, the resistance experienced by a vessel may berepresented by the function R=R(v _(w),ū_(R);γ), where v_(W) is the STW,u_(R) is a vector associated with relative wind, waves, and otherresistance sources, and γ represents the resistance coefficients.

The resistance R(v _(w),ū_(R);γ) may be further divided into two parts,the first being a calm-sea resistance, i.e. R_(cs), and the second termdescribing the additional resistance experienced due to externalconditions other than calm-sea, i.e. ΔR. Calm sea is defined as nowinds, no waves, deep ocean conditions, etc.

Further, the calm-sea resistance R_(cs) may be determined by calculatingthe value of resistance variables in calm sea conditions, denotedū_(R,CS)(v _(w)), and using the following equation:R _(cs)( v _(w);γ)=R( v _(w) ,ū _(R,CS)( v _(w));γ)Therefore, the term R_(cs) contains the expected calm sea hydrodynamicresistance and also for example the expected aerodynamic resistance(corresponding to head wind speed equal to the speed through water).

The resistance experienced due to external conditions other thancalm-sea (i.e. ΔR) may be determined using the following function:ΔR( v _(w) ,ū _(R);γ)=R( v _(w) ,ū _(R);γ)−R _(cs)( v _(w);γ)The ΔR term is usually small compared to the calm-sea term and encodesthe resistances caused by non-calm-sea conditions.

Further, when the thrust T of the propeller and the resistance Rexperienced by a vessel are equal, the following functions may be usedto represent the thrust coefficient K_(Q) and the torque coefficientK_(T),

${K_{Q}\left( {\frac{v_{w}}{n};{\overset{\_}{\alpha}}^{\prime}} \right)} = \frac{Q}{n^{2}}$${K_{T}\left( {\frac{v_{w}}{n};{\overset{\_}{\beta}}^{\prime}} \right)} = \frac{{R_{cs}\left( {v_{w};\overset{\_}{\gamma}} \right)} + {\Delta\; R}}{n^{2}}$

In the event where the dependence on D and ρ may be included in theparameters α and β, these equations can be solved to obtain expressionsfor Q and n as follows:Q=ƒ(v _(w) ,ΔR;α′,β′,γ)n=g(v _(w) ,ΔR;α′,β′,γ)The functions f and g are dependent on the chosen form of K_(T) andK_(Q). In an embodiment, the parameters α, β, and γ are unknownparameters, and are estimated based on data.

In an embodiment, the above pair of equations is solved, analytically ornumerically, for ΔR and v_(W), therewith having a function of Q and n todetermine STW.

In an embodiment, the data sample rate is higher than the rate at whichsea-faring conditions typically change, and ΔR may be modelled as aslowly evolving time-dependent variable. Then the STW for the vessel maybe calculated using the following state space formulation:Q _(t)=ƒ({circumflex over (v)} _(w,t) Δ{circumflex over (R)}_(t);α′,β′,γ)+ε_(1,t)n _(t) =g({circumflex over (v)} _(w,t) ,Δ{circumflex over (R)}_(t);α′,β′,γ)+ε_(2,t)v _(g,t) ={circumflex over (v)} _(w,t) +ĉ _(t)+ε_(3,t){circumflex over (v)} _(w,t) ={circumflex over (v)} _(w,t-1)+η_(1,t)ĉ _(t) =ĉ _(t-1)+η_(2,t)Δ{circumflex over (R)} _(t) =Δ{circumflex over (R)} _(t-1)+η_(3,t)

In these formulations, f and g are functions defined by the relationsgiven above, Q is torque of the propeller, v_(g) is speed over ground, nis propeller RPM, ε is a random variable describing measurement noise,and η is a random variable controlling the evolution speed of the state.In an embodiment, ε and η are distributed according to a multivariateGaussian distribution, uncorrelated in time. Variables denoted with ahat are the state space variables to be estimated: {circumflex over(v)}_(w) is the estimated STW, Δ{circumflex over (R)} the estimatedextra resistance, and ĉ the estimated oceanographic current. Allvariables are measured or estimated at a time t. Crucially, asΔ{circumflex over (R)} is an estimated parameter, no direct data relatedto winds or waves, for instance, is required as a data source.

Further, the parameters α, β, and γ in the aforementioned state-spaceformulation may not be considered as constants values pertaining to thefact that the mentioned parameter may change, for example, due to draftchanges or if the ship develops fouling. Therefore, these parameters canalso be taken as slowly changing parameters in time, although the timescale should be even slower than for ΔR.

In one embodiment, the state-space formulation is augmented with anobservation equation for data from the STW log:v _(w,t) =e ^(−{circumflex over (x)}) ^(t) {circumflex over (v)}_(w,t)+ε_(4,t){circumflex over (x)} _(t) ={circumflex over (x)} _(t-1)+η_(4,t)Here v_(W) is STW and {circumflex over (x)} is a state variable relatedto calibrating the STW log data, ε is a random variable describingmeasurement noise, and η is a random variable controlling the evolutionspeed of the state.

In another embodiment, the above-mentioned state-space formulation maybe augmented with an observation equation for a forecasted oceanographiccurrent c_(t), as follows:c _(t) =ĉ _(t)+ε_(5,t)wherein ĉ the estimated oceanographic current, and ε is a randomvariable describing measurement noise.

In an embodiment, there are data sources corresponding to resistances,such as weather data like wind or waves etc., or corresponding measuredvalues, or other operating conditions, and ΔR is partially modelledbased on the data. The downside of this approach is that the number ofinputs grows, meaning that the model becomes more prone to errors in theinputs and the implementation of the sensor system becomes morecumbersome. With the technique presented here, these extra data sourcesare not required.

In one embodiment, the unknown parameters used in the model may beestimated using a dynamical state space estimation technique, forexample Kalman filtering or smoothing.

The present disclosure accordingly provides a novel statisticalstate-space model to estimate the STW for a vessel, for calibration ofwater logs and for estimating current. Such a state-space formulation isessential in combining all the data sources to determine STW reliably.

The determined STW has many important practical applications. Accordingto an embodiment, the determined STW is used for optimising theoperation of the vessel. The optimisation is selected from a groupcomprising optimising time to clean the hull, optimising steering of thevessel, optimising speed profile of voyage, or optimising voyage route.

In one aspect, an embodiment of the present disclosure provides a sensorsystem for estimating STW of a marine vessel, the sensor systemcomprising:

-   -   a first receiver configured to receive propeller revolutions per        minute and at least one of torque at propeller, propulsion        power, thrust, and engine fuel consumption;    -   a second receiver configured to receive speed over ground of the        vessel; and    -   at least one processor configured to determine the STW of the        vessel, based on the received data and hydrodynamic modeling.

In one embodiment, the sensor system of the present disclosure receivesdata from different data sources to produce a high-quality, low-bias STWmeasurement. These data sources are described next. In anotherembodiment, the first receiver is configured to receive at least one ofthe propeller revolutions per minute, torque at propeller, propulsionpower, thrust and engine fuel consumption from a corresponding indirectmeasurement based on vessel vibrations, as is explained in more detailabove.

The sensor system comprises a first receiver configured to receive oracquire RPM of propeller and at least one of torque at propeller,propulsion power, thrust, and engine fuel consumption, or acorresponding combination of indirect measurements based on vesselvibrations. In an embodiment, the first receiver may be a data source,such as a sensor unit having at least one sensor. In another embodiment,the first receiver is configured to acquire data from the ship'sautomation system. Further, the first receiver may also include elementssuch as transduction functions with an analog interface circuit, amicrocontroller with an integrated analog-to-digital converter (ADC),and an input/output (I/O) bus interface, a power source, an externalmemory in addition to the sensor, that collectively operate to receivedata related to propulsion of the vessel. In an example, propulsionpower, thrust, or engine fuel flow is used instead of torque atpropeller. In another example, an indirect measurement of the propulsionsystem arises from a separate sensor device that registers vessel hullvibrations and estimates propulsion variables. For example, the data mayoriginate from a sensor device according to WO 2016/038249.

Further, the sensor system comprises a second receiver configured toreceive or acquire the speed over ground of the vessel. In oneembodiment, the second receiver may be also a data source, such as asensor unit, operable to receive the speed over ground of the vessel. Inan embodiment, the speed over ground of the vessel may be gathered usingspace-based navigation system (sensor unit), such as global positioningsystem or chart plotter and the like.

In one embodiment, the sensor system also comprises a third receiverconfigured to receive oceanographic current data related to course ofthe marine vessel, wherein the processor is further configured to usethe received data in determining the speed through water of the vessel.In an embodiment, the oceanographic data pertains to the forecastedoceanographic current calculated for the route of the marine vessel. Inan embodiment, a forecast provider, that uses a numerical ocean modeland multiple data sources to estimate the ocean current, produces theoceanographic current forecasts.

In another embodiment, the sensor system also comprises a fourthreceiver configured to received data from a speed through water log, theprocessor being further configured to use the obtained data indetermining the speed through water of the vessel and calibrating thespeed through water log data. The fourth receiver may also be configuredto acquire STW data from the automation system. The device is interfacedwith peripheral equipment like display devices or a voyage data recorderand so forth.

The sensor system comprises of at least one processor configured todetermine the STW of the vessel, based on the received data andhydrodynamic modeling. For example, the processor is configured toreceive rpm of propeller and torque at propeller (i.e. data from thefirst receiver) and the speed over ground of the vessel (i.e. data fromthe second receiver), and thereafter the processor estimates parametersof the hydrodynamic model based on the obtained data to determine theSTW of the vessel. One possible formulation for the hydrodynamic modelhas been presented earlier in this section.

In an embodiment, the processor is further configured to render thespeed through water. This can be achieved for example by means of adisplay, wherein the speed through water is shown to the operator of thevessel.

In one embodiment, the sensor system may comprise one or more processingmodules and at least one memory. Further, the memory stores instructionsfor determining the STW of the vessel. Additionally, the storage devicemay be configured to store the information received by the first, secondand optional third and fourth receivers. For example, the storage devicemay store data such as RPM, torque, SOG, STW, and oceanographic currentforecasts.

The present disclosure further relates to use of a determined speedthrough water for optimising operation of a vessel. The speed throughwater is determined according to the method described above.

The present disclosure provides a method and a system for determining ahigh-quality, low-bias STW. The main usage of the system is to measurethe vessel's STW. The STW may be further used to calculate an accuratecurrent, estimate the propulsive efficiency, track the propulsiveefficiency over time, and/or assess the onboard efficiency ofnavigational operations for a marine vessel. Also the determined STW maybe used to augment budgeting for a marine vessel, for example based onthe determined STW, the fuel consumption of a vessel maybe determined.The determined STW can be used to optimise vessel operation. Theoptimisation is selected from a group comprising optimising time toclean the hull, optimising steering of the vessel, optimising speedprofile of voyage, or optimising voyage route.

DETAILED DESCRIPTION OF THE DRAWINGS

FIG. 3 illustrates a block diagram of a sensor system 100 fordetermining the STW of a marine vessel (not shown), in accordance withan embodiment of the present disclosure. The system 100 includes a firstreceiver 102 operable to receive data related to propulsion of thevessel, a second receiver 104 operable to receive data related to speedover ground of the vessel, a third receiver 106 operable to receive dataof oceanographic current, and a fourth receiver 108 operable to receiveddata from one or more STW logs. The system 100 also includes at leastone processor, such as a processor 110, operatively coupled to thefirst, second, third and fourth receivers 102, 104, 106 and 108. Theprocessor 110 is configured to determine the STW of the vessel, based onthe received data and previous data from the first receiver 102 and thesecond receiver 104 and using hydrodynamic modeling. The processor 110is further configured to use the received data from the third receiver106 (i.e. data of oceanographic current related to course of the marinevessel) in the calculation of the STW of the vessel.

FIG. 4 is an illustration of steps of a method 200 for determining theSTW of a marine vessel, in accordance with an embodiment of the presentdisclosure. Those skilled in the art would recognize that the method 200illustrate steps involved in the operation of the system 100 of theFIG. 1. At step 202, data related to propulsion of the vessel isobtained. At step 204, data related to speed over ground of the vesselis obtained. At step 206, the STW is determined using the obtained dataand hydrodynamic modeling.

The steps 202 to 206 are only illustrative and other alternatives canalso be provided where one or more steps are added, one or more stepsare removed, or one or more steps are provided in a different sequencewithout departing from the scope of the claims herein. For example, themethod 200 may further obtain data from one or more STW logs, and usethe obtained data at steps 202 and 204 in determining the STW of thevessel. The method 200 may further obtain data related to oceanographiccurrent and may use said data in determining the STW of the vessel. Themethod 200 may use a statistical state-space model to obtain the STW.Further, the method 200 may provide the STW in real time.

Modifications to embodiments of the present disclosure described in theforegoing are possible without departing from the scope of the presentdisclosure as defined by the accompanying claims. Expressions such as“including”, “comprising”, “incorporating”, “have”, “is” used todescribe and claim the present disclosure are intended to be construedin a non-exclusive manner, namely allowing for items, components orelements not explicitly described also to be present. Reference to thesingular is also to be construed to relate to the plural.

The invention claimed is:
 1. A method for determining speed throughwater of a vessel for optimisation of vessel operation, using a sensorsystem, the method comprising: obtaining data regarding propellerrevolutions per minute and at least one of torque at propeller,propulsion power, thrust or engine fuel consumption; obtaining dataregarding speed over ground of the vessel; and using the obtained dataand hydrodynamic modeling to determine speed through water of thevessel.
 2. A method according to claim 1, wherein at least one of thepropeller revolutions per minute, torque at propeller, propulsion power,thrust or engine fuel consumption is a measurement value resulting froma corresponding indirect measurement based on vessel vibrations.
 3. Amethod according to claim 2, comprising: obtaining logged data from oneor more speed through water logs; and using the obtained logged data indetermining the speed through water of the vessel and for calibratingspeed through water log data.
 4. A method according to claim 3,comprising: obtaining oceanographic current data and using said data indetermining the speed through water of the vessel.
 5. A method accordingto claim 1, comprising: obtaining logged data from one or more speedthrough water logs; and using the obtained logged data in determiningthe speed through water of the vessel and for calibrating speed throughwater log data.
 6. A method according to claim 1, further comprising:obtaining oceanographic current data and using said data in determiningthe speed through water of the vessel.
 7. A method according to claim 1,comprising: determining the speed through water using a statisticalstate-space model.
 8. A method according to claim 1, comprising:determining the speed through water in real time.
 9. A method accordingto claim 1, comprising: calculating the speed through water of thevessel using state space formulation:Q _(t)=ƒ({circumflex over (v)} _(w,t) Δ{circumflex over (R)}_(t);α′,β′,γ)+ε_(1,t)n _(t) =g({circumflex over (v)} _(w,t) ,Δ{circumflex over (R)}_(t);α′,β′,γ)+ε_(2,t)v _(g,t) ={circumflex over (v)} _(w,t) +ĉ _(t)+ε_(3,t){circumflex over (v)} _(w,t) ={circumflex over (v)} _(w,t-1)+η_(1,t)ĉ _(t) =ĉ _(t-1)+η_(2,t)Δ{circumflex over (R)} _(t) =Δ{circumflex over (R)} _(t-1)+η_(3,t)wherein f and g are functions defined by relations:${K_{Q}\left( {\frac{v_{w}}{n};{\overset{\_}{\alpha}}^{\prime}} \right)} = \frac{Q}{n^{2}}$${K_{T}\left( {\frac{v_{w}}{n};{\overset{\_}{\beta}}^{\prime}} \right)} = \frac{{R_{cs}\left( {v_{w};\overset{\_}{\gamma}} \right)} + {\Delta\; R}}{n^{2}}$and Q is torque of the propeller, v_(g) is speed over ground, n ispropeller revolution per minute, ε is a random variable describingmeasurement noise, and η is a random variable controlling evolutionspeed of the state, {circumflex over (v)}_(w) is estimated speed throughwater, R_(cs)(v_(w); γ) is calm sea resistance as a function of thespeed through water, Δ{circumflex over (R)} is estimated extraresistance on top of calm sea resistance, ĉ is estimated oceanographiccurrent, and parameters α, β and γ are state variables estimated basedon data.
 10. A method according to claim 9, wherein the relations K_(Q)and K_(T) are linear or quadratic functions.
 11. A method according toclaim 9, comprising: augmenting the state space formulation is augmentedwith equations which take into account measured speed through water dataand calibrate it as follows:{circumflex over (v)} _(w,t) =e ^(−{circumflex over (x)}) ^(t){circumflex over (v)} _(w,t)+ε_(4,t){circumflex over (x)} _(t) ={circumflex over (x)} _(t-1)+η_(4,t) whereinv_(w) is the speed through water and {circumflex over (x)} is a statevariable related to calibrating the speed through water log data, ε is arandom variable describing measurement noise, and η is a random variablecontrolling the evolution speed of the state.
 12. A method according toclaim 9, comprising: augmenting the state space formulation with anequation which takes into account a forecasted current as follows:c _(t) =ĉ _(t)+ε_(5,t) wherein c is an oceanographic current forecast, ĉan estimated oceanographic current, and ε is a random variabledescribing measurement noise.
 13. A method according to claim 9,comprising: estimating unknown parameters of a hydrodynamic model areestimated using at least one dynamical state-space estimation technique.14. A method according to claim 1, comprising: optimising with thedetermined speed through water, operation of the vessel, where theoptimising is selected from a group comprising: optimising time to cleana hull of the vessel; optimisation of steering of the vessel; optimisingspeed profile of a voyage; and optimising voyage route.
 15. A sensorsystem for determining speed through water of a vessel, the sensorsystem comprising: a first receiver configured to receive propellerrevolutions per minute and at least one of torque at propeller,propulsion power, thrust or engine fuel consumption; a second receiverconfigured to receive speed over ground of a vessel; and at least oneprocessor configured to determine a speed through water of a vessel,based on received data and hydrodynamic modeling.
 16. A sensor systemaccording to claim 15, wherein the first receiver is configured toreceive at least one of the propeller revolutions per minute, torque atpropeller, propulsion power, thrust or engine fuel consumption from acorresponding indirect measurement based on vessel vibrations.
 17. Asensor system according to claim 15, comprising: a third receiverconfigured to receive oceanographic current data related to course of amarine vessel, wherein the processor is configured to use received datain a calculation of speed through water of the marine vessel.
 18. Asensor system according to claim 15, wherein the processor is configuredto render speed through water.
 19. A sensor system according to claim15, comprising: a fourth receiver configured to receive data from aspeed through water log, the processor being configured to use obtaineddata for determining a speed through water of a vessel and calibratingthe speed through water log data.
 20. The sensor system according 19, incombination with a vessel whose speed is to be determined by the sensorsystem.